SIA OpenIR  > 其他
Robust robot grasp detection in multimodal fusion
Zhang Q(张强); Qu DK(曲道奎); Xu F(徐方); Zou FS(邹风山)
作者部门其他
会议名称3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017
会议日期December 16-17, 2017
会议地点Chengdu, China
会议录名称2017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering, ICMITE 2017
出版者EDP Sciences
出版地Les Ulis Cedex A, France
2017
页码1-5
收录类别EI
EI收录号20175304593500
产权排序1
ISSN号2261-236X
摘要Accurate robot grasp detection for model free objects plays an important role in robotics. With the development of RGB-D sensors, object perception technology has made great progress. Reach feature expression by the colour and the depth data is a critical problem that needs to be addressed in order to accomplish the grasping task. To solve the problem of data fusion, this paper proposes a convolutional neural networks (CNN) based approach combined with regression and classification. In the CNN model, the colour and the depth modal data are deeply fused together to achieve accurate feature expression. Additionally, Welsch function is introduced into the approach to enhance robustness of the training process. Experiment results demonstrates the superiority of the proposed method. © The Authors, published by EDP Sciences, 2017.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21453
专题其他
通讯作者Zhang Q(张强)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, No.114 Nanta Street, Shenhe District, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, No.19A Yuquan Road, Beijing, 100049, China
3.SIASUN Robot and Automation Co. LTD., NO.16 Jinhui Street, Hunnan District, Shenyang, 110168, China
推荐引用方式
GB/T 7714
Zhang Q,Qu DK,Xu F,et al. Robust robot grasp detection in multimodal fusion[C]. Les Ulis Cedex A, France:EDP Sciences,2017:1-5.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
Robust robot grasp d(424KB)会议论文 开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhang Q(张强)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
百度学术
百度学术中相似的文章
[Zhang Q(张强)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
必应学术
必应学术中相似的文章
[Zhang Q(张强)]的文章
[Qu DK(曲道奎)]的文章
[Xu F(徐方)]的文章
相关权益政策
暂无数据
收藏/分享
文件名: Robust robot grasp detection in multimodal fusion.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。